US 11,693,373 B2 · Systems and methods for robust learning-based control during forward and landing flight under uncertain conditions

Abstract

Systems and methods for learning based control in accordance with embodiments of the invention are illustrated. One embodiment includes a method for training an adaptive controller. The method includes steps for receiving a set of training data that includes several training samples, wherein each training sample includes a state and a true uncertain effect value. The method includes steps for computing an uncertain effect value based on the state, computing a set of one or more losses based on the true uncertain effect value and the computed uncertain effect value, and updating the adaptive controller based on the computed set of losses.

Claims18

Dependent claims

A method for training an adaptive controller, the method comprising:

receiving a set of training data comprising a plurality of training samples, each training sample comprising a state and a true uncertain effect value, wherein the state comprises vehicle dynamics data;
computing, for each training sample, an uncertain effect value based on the state;
computing, for each training sample, a set of one or more losses based on the true uncertain effect value and the computed uncertain effect value, wherein the set of one or more losses comprises a position tracking error;
and
updating the adaptive controller based on the computed set of losses,
wherein the true uncertain effect value is a disturbance force caused by at least one of the group consisting of ground effects and wind conditions.

3 more elements

Dependencies are inferred from the claim text.

Facts

Application

16/709,775Filed 10 Dec 2019 · us provisional application

Priority

10 Dec 2018

Published

US 2020/0183339 A111 Jun 2020

Granted

4 Jul 2023

Term ends

Not estimatedThe source records don’t support an estimate.

Classification10 codes

G05B 13/027
The criterion being a learning criterion: using neural networks only
G06N 3/04
Neural networks: architecture, e.g. interconnection topology
G06N 3/045
Architecture, e.g. interconnection topology: combinations of networks
G06N 3/048
Architecture, e.g. interconnection topology: activation functions

Systems and methods for robust learning-based control during forward and landing flight under uncertain conditions

Life of this patent

Systems and methods for robust learning-based control during forward and landing flight under uncertain conditions

Life of this patent

Abstract

Claims18